Test Method for Exoskeleton Locomotion on Irregular Terrains: Testbed Design and Construction

Torres-Pardo, Adriana; Pinto-Fernández, David; Belalcázar-Bolaños, E.; Pons, José L; Moreno, Juan C.; Torricelli, Diego

doi:10.1007/978-3-030-69547-7_104

Cited by 2 publications

(1 citation statement)

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“…There is no clear standard regulating the characteristics of such types of conditions, which leads to several problems when evaluating human or robotic locomotion performance over these terrains. A first step in this direction has been taken by Torres-Pardo et al [125], who proposed a standardized test method able to reproduce a variety of irregularities, by using a modular and replicable 'Lego-like' approach. This work has led to the first formal pre-standard published by CEN CENELEC [126].…”

Section: Robotic Locomotion Over Irregular Terrainsmentioning

confidence: 99%

Legged locomotion over irregular terrains: state of the art of human and robot performance

et al. 2022

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Legged robotic technologies have moved out of the lab to operate in real environments, characterized by a wide variety of unpredictable irregularities and disturbances, all this in close proximity with humans. Demonstrating the ability of current robots to move robustly and reliably in these conditions is becoming essential to prove their safe operation. Here, we report an in-depth literature review aimed at verifying the existence of common or agreed protocols and metrics to test the performance of legged system in realistic environments. We primarily focused on three types of robotic technologies, i.e., hexapods, quadrupeds and bipeds. We also included a comprehensive overview on human locomotion studies, being it often considered the gold standard for performance, and one of the most important sources of bioinspiration for legged machines. We discovered that very few papers have rigorously studied robotic locomotion under irregular terrain conditions. On the contrary, numerous studies have addressed this problem on human gait, being nonetheless of highly heterogeneous nature in terms of experimental design. This lack of agreed methodology makes it challenging for the community to properly assess, compare and predict the performance of existing legged systems in real environments. On the one hand, this work provides a library of methods, metrics and experimental protocols, with a critical analysis on the limitations of the current approaches and future promising directions. On the other hand, it demonstrates the existence of an important lack of benchmarks in the literature, and the possibility of bridging different disciplines, e.g., the human and robotic, towards the definition of standardized procedures that will boost not only the scientific development of better bioinspired solutions, but also their market uptake.

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Section: Robotic Locomotion Over Irregular Terrainsmentioning

confidence: 99%